CN106080483B - Working method of active steering safety system of large vehicle - Google Patents

Abstract

The invention discloses a working method for a large-scale vehicle steering active safety system, which comprises the following steps: step 1, setting a wheel speed sensor to collect the current speed of the vehicle; ABS) or vehicle dynamic stability program system (ESP) to obtain the vehicle speed signal; step 3, set the steering wheel angle sensor to collect the current angle of the steering wheel; step 4, set the system ECU to obtain the current angle of the steering wheel from the electric power steering system (EPS) through the CAN bus ; Step five, calculate the shortest lateral braking distance and the shortest longitudinal braking distance of the vehicle according to the current speed of the vehicle; step six, add the shortest lateral braking distance of the vehicle to the preset separation distance to obtain The lateral safety distance between them. The invention has the advantages of simple structure, convenient use and avoiding traffic accidents.

Description

How Large Vehicle Steering Active Safety Systems Work

technical field

The invention relates to a system working method, in particular to a working method of a large vehicle steering active safety system.

Background technique

Traffic accidents involving large trucks are not uncommon. In such accidents, both parties in the accident range from vehicle damage to casualties. In traffic accidents involving motor vehicles, the probability of accidents when the vehicle turns right is much higher than that of turning left and going straight. According to the principle of traffic on the right side, large vehicles tend to form mixed traffic with pedestrians, battery cars, bicycles, etc. when turning right, because of the blind spot of the driver's vision and the lack of knowledge of the vehicle's inner wheel difference by other road participants, accidents are prone to occur. In accidents involving large vehicles such as cement tankers, many drivers do not even know that the vehicle has been involved in an accident. Follow-up investigations showed that many cement tankers have blind spots, and under the influence of the inner wheel difference, the probability of accidents is higher. Whether it is a large vehicle or a small vehicle, there are inner wheel differences and blind spots in the field of vision. The visual blind spots of large vehicles using traditional rearview mirrors, especially large trucks, are much larger than those of ordinary family cars.

Generally speaking, blind areas are divided into passive and active. There are 10 passive blind areas in total, which are distributed in the front, rear, both sides of the A-pillar, both sides of the B-pillar, both sides of the C-pillar, and the left and right rearview mirrors.

However, due to the special body structure of large vehicles, the visual blind spots are much more than the blind spots of ordinary sedan chairs. Generally speaking, the main line of sight in the cab of a large car is the area with an angle of about 200 degrees on both sides of the front, and the viewing range of about 60 degrees on the side and rear provided by the three rearview mirrors on the car. The rear compartment is large, so the rearview mirror in the cab cannot see the rear situation at all, and can only be observed through the traditional rearview mirror on the outside of the cab.

In addition, for some semi-trailers over 10 meters long, the front and the body are separated, so when turning, the front and the body are often not on the same straight line. completely blocked. Moreover, the longer the vehicle body, the greater the range of blind spots. After calculation, the inner wheel difference of the 20-meter semi-trailer is nearly 6 meters.

There are also some yellow sand trucks and large trucks with a height of more than 3 meters. At such heights, drivers can only see taller objects. If pedestrians or vehicles get too close to this blind spot, danger is very likely to occur.

The truck driver’s driving blind spot is outside the co-pilot’s position door and the right front corner. The truck driver’s field of vision can be divided into a semi-blind spot and a full blind spot. The blind spot is directly behind the vehicle.

Contents of the invention

The technical problem to be solved by the present invention is to provide a working method for a large-scale vehicle steering active safety system, which is simple and easy to use, and can prompt the driver when the large-scale vehicle is in a dangerous situation, so as to improve the vigilance of the driver, and can When a large vehicle is in an emergency, it actively brakes to avoid traffic accidents.

The present invention solves the above-mentioned technical problems through the following technical solutions: a working method for a large-scale vehicle steering active safety system, which is characterized in that it includes the following steps:

Step 1, set the wheel speed sensor to collect the current speed of the car;

Step 2, setting the system ECU to obtain the vehicle speed signal from the anti-lock brake system (ABS) or the vehicle dynamic stability program system (ESP) through the CAN bus;

Step 3, set the steering wheel angle sensor to collect the current angle of the steering wheel;

Step 4, set the system ECU to obtain the current angle of the steering wheel from the electric power steering system (EPS) through the CAN bus;

Step five, calculate the shortest lateral braking distance and the shortest longitudinal braking distance of the vehicle according to the current speed of the vehicle;

Step 6, adding the shortest lateral braking distance of the vehicle to the preset separation distance to obtain the lateral safety distance between the pedestrian or obstacle and the vehicle;

Step 7, adding the shortest longitudinal braking distance of the vehicle to the preset isolation distance to obtain the longitudinal safety distance between the pedestrian or obstacle and the vehicle;

Step 8, judging whether the distance between the current vehicle and its side obstacles is less than or equal to the longitudinal and lateral safety distance of the vehicle; if the distance between the current vehicle and its side obstacles is less than or equal to the longitudinal and lateral safety distance of the vehicle One, the system ECU controls the braking system to decelerate the vehicle through the anti-lock brake system (ABS) or the vehicle dynamic stability program system (ESP), and the effective working indicator light is controlled by the instrument ECU; if the current vehicle and its side If the distance between obstacles is greater than the longitudinal and lateral safety distances of the vehicle, the system will not take action;

Step 9, perform closed-loop control reciprocally from step 1 to step 8.

Preferably, the eighth step adopts PID control algorithm or fuzzy algorithm.

The positive progress effect of the present invention lies in: the present invention is simple in structure, easy to use, can remind the driver when the large vehicle is in a dangerous situation, improve the vigilance of the driver, and can actively brake when the large vehicle is in an emergency, Avoid traffic accidents.

Description of drawings

Fig. 1 is a flow chart of the working method of the large-scale vehicle steering active safety system of the present invention.

Detailed ways

The preferred embodiments of the present invention are given below in conjunction with the accompanying drawings to describe the technical solution of the present invention in detail.

As shown in Figure 1, the present invention discloses a working method for a large vehicle steering active safety system, which mainly includes the following steps:

Step 1, set the wheel speed sensor to collect the current speed of the car;

Step 2, setting the system ECU to obtain the vehicle speed signal from the anti-lock brake system (ABS) or the vehicle dynamic stability program system (ESP) through the CAN bus;

Step 3, set the steering wheel angle sensor to collect the current angle of the steering wheel;

Step 4, set the system ECU to obtain the current angle of the steering wheel from the electric power steering system (EPS) through the CAN bus;

Step five, calculate the shortest lateral braking distance and the shortest longitudinal braking distance of the vehicle according to the current speed of the vehicle;

Step 6, adding the shortest lateral braking distance of the vehicle to the preset separation distance to obtain the lateral safety distance between the pedestrian or obstacle and the vehicle;

Step 7, adding the shortest longitudinal braking distance of the vehicle to the preset isolation distance to obtain the longitudinal safety distance between the pedestrian or obstacle and the vehicle;

Step 8, judging whether the distance between the current vehicle and its side obstacles is less than or equal to the longitudinal and lateral safety distance of the vehicle; if the distance between the current vehicle and its side obstacles is less than or equal to the longitudinal and lateral safety distance of the vehicle One, the system ECU controls the braking system to decelerate the vehicle through the anti-lock brake system (ABS) or the vehicle dynamic stability program system (ESP), and the effective working indicator light is controlled by the instrument ECU; if the current vehicle and its side If the distance between obstacles is greater than the longitudinal and lateral safety distances of the vehicle, the system will not take action;

Step 9, perform closed-loop control reciprocally from step 1 to step 8.

The eighth step adopts PID control algorithm or fuzzy algorithm.

The range of the preset buffer distance between the vehicle and the obstacle is calculated according to the vehicle speed and the steering wheel angle. The buffer distance is the lateral braking distance of the vehicle.

The range of the preset separation distance L between the vehicle and the obstacle is greater than 0.5 meters, and is optimized to be 1.5 meters. The isolation distance is a distance reserved for insurance on the basis of the lateral braking distance of the vehicle.

For example, when the current speed of the vehicle is 20 km/h, the buffer distance calculated according to the vehicle speed and steering wheel angle is set to 0.5 meters, and the isolation distance is preset to 1 meter, then the lateral safety distance between the obstacle and the vehicle is greater than 0.5 meters. The best lateral safety distance is greater than 1.5m. If the distance sensor detects that there is an obstacle within 1.5 meters in the lateral direction, the active safety system will take an effective action. First, the effective action indicator on the vehicle dashboard will light up, and the real-time calculation will be based on the real-time vehicle speed, steering wheel angle, and the distance between the vehicle and the obstacle. Optimum vehicle speed, according to the difference between the optimal vehicle speed and the real-time vehicle speed, brakes are further implemented to slow down or stop the vehicle.

The specific embodiments described above have further described the technical problems, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention and are not intended to limit In the present invention, any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (2)

1. a kind of oversize vehicle turns to the working method of active safety system, which is characterized in that include the following steps：

Step 1, setting wheel speed sensors acquire the present speed of automobile；

Step 2, setting system ECU are obtained by CAN bus to anti-blocking brake system or vehicle dynamic stability programming system Speed signal；

Step 3, setting direction disk rotary angle transmitter acquire the current angular of steering wheel；

Step 4, setting system ECU obtain the current angular of steering wheel by CAN bus to electric boosting steering system；

Step 5 calculates most short braking distance and the longitudinal direction of lateral direction of car according to the present speed of vehicle and steering wheel angle Most short braking distance；

The most short braking distance of step 6, lateral direction of car is obtained plus preset isolation distance between pedestrian or barrier and vehicle Transverse safety distance；

The most short braking distance of step 7, longitudinal direction of car is obtained plus preset isolation distance between pedestrian or barrier and vehicle Longitudinal safe distance；

Step 8 judges longitudinal direction and laterally peace that whether the distance between current vehicle and its side barrier are less than or equal to vehicle Full distance；If the distance between current vehicle and its side barrier are less than or equal to longitudinal direction and the transverse safety distance of vehicle In one, then system ECU braking system is controlled to vehicle by anti-blocking brake system or vehicle dynamic stability programming system Slow down, controlling effective work light by instrument ECU lights；If between current vehicle and its side barrier Distance is more than longitudinal direction and the transverse safety distance of vehicle entirely, then system does not take action；

Step 9 back and forth carries out closed-loop control from step 1 to step 8.

2. oversize vehicle according to claim 1 turns to the working method of active safety system, which is characterized in that the step Rapid eight use pid control algorithm or fuzzy algorithmic approach.